597 lines
22 KiB
Plaintext
597 lines
22 KiB
Plaintext
commit 399cda773035d99eaf1f4a129a666b3c4df9d1b1
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Fri Oct 23 19:36:08 2020 +0100
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Update build documentation to reflect detection of Eigen via config mode
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Change-Id: I18d5f0fc1eb51ea630164c911d935e9bffea35ce
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commit bb127272f9b57672bca48424f2d83bc430a46eb8
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Oct 19 09:28:34 2020 -0700
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Fix typos.
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Contributed by Ishamis@, IanBoyanZhang@, gkrobner@ & mithunjacob@.
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Change-Id: Iab3c19a07a6f3db2486e3557dcb55bfe5de2aee5
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commit a0ec5c32af5c5f5a52168dc2748be910dba14810
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Sun Oct 18 15:20:36 2020 -0700
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Update version history for 2.0.0RC2
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Change-Id: I75b7515fbf9880bd8eaea6ecd5e72ce1ae4a3a86
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commit 3f6d2736769044e7c08c873c41a184849eea73ab
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Author: Taylor Braun-Jones <taylor@braun-jones.org>
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Date: Tue Jan 28 12:09:30 2020 -0500
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Unify symbol visibility configuration for all compilers
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This makes it possible to build unit tests with shared libraries on MSVC.
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Change-Id: I1db66a80b2c78c4f3d354e35235244d17bac9809
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commit 29c2912ee635c77f3ddf2e382a5d6a9cf9805a3d
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Oct 13 12:07:06 2020 -0700
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Unbreak the bazel build some more
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Change-Id: I6bbf3df977a473b9b5e16a9e59da5f535f8cdc24
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commit bf47e1a36829f62697b930241d0a353932f34090
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Oct 13 10:00:22 2020 -0700
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Fix the Bazel build.
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1. Fix the path to eigen, now that it uses gitlab instead of bitbucket.
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2. Remove an unrecognized compiler option.
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3. Remove an obsolete benchmark.
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This CL only unbreaks the build, it is likely that it is still not
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at par with the cmake build.
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https://github.com/ceres-solver/ceres-solver/issues/628
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Change-Id: I470209cbb48b6a4f499564a86b52436e0c8d98ef
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commit 600e8c529ebbb4bb89d5baefa3d5ab6ad923706a
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Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
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Date: Mon Oct 12 23:00:39 2020 +0200
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fix minor typos
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all timing values in the summary are initialized to -1, so the one
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+1 is likely an oversight.
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Change-Id: Ie355f3b7da08a56d49d19ca9a5bc48fe5581dee3
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commit bdcdcc78af61a0cb85317ebee52dc804bf4ea975
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Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
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Date: Mon Sep 7 01:48:50 2020 +0200
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update docs for changed cmake usage
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- update links to cmake docs to version 3.5
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- highlight difference between dependencies with and without custom
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find modules
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- point out removal of CERES_INCLUDE_DIRS
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- point out that TBB might be linked if SuiteSparseQR is found
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- added 'Migration' section
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- fixed typos
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Change-Id: Icbcc0e723d11f12246fb3cf09b9d7c6206195a82
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commit 3f69e5b36a49b44344e96a26b39693a914ba80c6
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Oct 12 11:46:40 2020 -0700
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Corrections from William Rucklidge
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Change-Id: I0b5d4808be48f68df7829c70ec93ffa67d81315d
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commit 8bfdb02fb18551bbd5f222c5472e45eddecd42b9
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Oct 12 10:07:13 2020 -0700
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Rewrite uses of VLOG_IF and LOG_IF.
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VLOG_IF's evaluation order is ambiguous - does it mean
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`if (cond) VLOG(lvl)` or `if (VLOG_IS_ON(lvl) && cond) LOG(INFO)`?
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In particular, the way it works now is inconsistent with the way the
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rest of the LOG macros evaluate their arguments.
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Fixing this would be hard, and the macro's behavior would still surprise
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some people. Replacing it with an if statement is simple, clear, and unambiguous.
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Change-Id: I97a92d17a932c0a5344a1bf98d676308793ba877
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commit d1b35ffc161fd857c7c433574ca82aa9b2db7f98
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Oct 12 10:58:05 2020 -0700
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Corrections from William Rucklidge
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Change-Id: Ifb50e87aa915d00f9861fe1a6da0acee11bc0a94
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commit f34e80e91f600014a3030915cf9ea28bcbc576e7
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Oct 8 12:34:53 2020 -0700
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Add dividers between licenses.
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Change-Id: I4e4aaa15e0621c5648550cfa622fe0a79f1f4f9f
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commit 65c397daeca77da53d16e73720b9a17edd6757ab
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Oct 7 14:34:52 2020 -0700
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Fix formatting
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Change-Id: Ib4ca8a097059dbb8d2f3a6a888222c0188cb126e
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commit f63b1fea9cfa48ae4530c327b10efa4985e69631
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Oct 7 14:30:54 2020 -0700
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Add the MIT license text corresponding to the libmv derived files.
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Change-Id: Ie72fb45ae96a7892c00411eee6873db7f0e365a8
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commit 542613c13d8b7469822aff5eec076f2cad4507ec
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Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
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Date: Tue Oct 6 22:48:59 2020 +0200
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minor formatting fix for trust_region_minimizer.cc
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Change-Id: I18ba27825fc23dd0e9e3e15dc13fc0833db01b5b
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commit 6d9e9843d8c61cfb04cc55b9def9518f823a592a
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Sep 28 11:35:37 2020 -0700
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Remove inclusion of ceres/eigen.h
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The initial reason for this is because of a previous reformatting CL
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triggered a macro redefinition warning in the schur eliminator. But
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actually it was worse because the reordering had caused the macro
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definition to be ignored and caused a performance regression.
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This simplifies the generated files, fixes some formatting errors
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and recovers the performance.
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Change-Id: I9dbeffc38743b3f24b25843feec2e26a73188413
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commit eafeca5dcb7af8688d40a9c14b0d2fcb856c96fc
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Sep 28 11:12:59 2020 -0700
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Fix a logging bug in TrustRegionMinimizer.
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Upon encountering an unsuccessful step (one where the cost goes up)
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the the trust region minimizer failed to populate the gradient norm
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in the IterationSummary. This would cause the gradient norm to be
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logged as zero which is incorrect. Instead it should be the gradient
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norm at the current point.
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This CL fixes this issue.
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Before:
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iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
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0 1.115206e+07 0.00e+00 1.90e+07 0.00e+00 0.00e+00 1.00e+04 0 2.72e-01 1.33e+00
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1 3.687552e+06 7.46e+06 1.84e+08 2.86e+03 6.91e-01 1.06e+04 1 1.32e+00 2.65e+00
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2 3.670266e+10 -3.67e+10 0.00e+00 3.27e+03 -1.07e+04 5.30e+03 1 7.52e-01 3.40e+00
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3 4.335397e+07 -3.97e+07 0.00e+00 2.74e+03 -1.16e+01 1.32e+03 1 7.28e-01 4.13e+00
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4 1.345488e+06 2.34e+06 4.12e+07 1.55e+03 6.87e-01 1.40e+03 1 9.31e-01 5.06e+00
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5 5.376653e+05 8.08e+05 9.99e+06 6.64e+02 7.46e-01 1.59e+03 1 9.64e-01 6.03e+00
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After:
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iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
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0 1.115206e+07 0.00e+00 1.90e+07 0.00e+00 0.00e+00 1.00e+04 0 2.37e-01 1.13e+00
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1 3.687552e+06 7.46e+06 1.84e+08 2.86e+03 6.91e-01 1.06e+04 1 1.08e+00 2.21e+00
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2 3.670266e+10 -3.67e+10 1.84e+08 3.27e+03 -1.07e+04 5.30e+03 1 7.50e-01 2.96e+00
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3 4.335397e+07 -3.97e+07 1.84e+08 2.74e+03 -1.16e+01 1.32e+03 1 7.13e-01 3.67e+00
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4 1.345488e+06 2.34e+06 4.12e+07 1.55e+03 6.87e-01 1.40e+03 1 9.01e-01 4.57e+00
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5 5.376653e+05 8.08e+05 9.99e+06 6.64e+02 7.46e-01 1.59e+03 1 9.36e-01 5.51e+00
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Change-Id: Iae538fe089be07c7bb219337a6f1392f7213acfe
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commit 1fd0be916dd4ff4241bd52264b9e9170bc7e4339
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Mon Sep 28 18:54:33 2020 +0100
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Fix default initialisation of IterationCallback::cost
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Change-Id: I9f529093fc09424c90dbff8e9648b90b16990623
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commit 137bbe845577929a87f8eef979196df6a8b30ee4
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Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
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Date: Mon Sep 28 02:17:32 2020 +0200
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add info about clang-format to contributing docs
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Change-Id: I2f4dcbda2e4f36096df217d76de370103ffaa43e
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commit d3f66d77f45482b90d01af47938289c32dd2cc08
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Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
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Date: Mon Sep 28 02:01:43 2020 +0200
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fix formatting generated files (best effort)
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- update file generator scripts / templates so generated files adhere
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to clang-format
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- A few exceptions are not fixed, where the file generation results in
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lines of different width. To properly fix this would make the code
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more complicated and it's not that important for generated files
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anyway.
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- note that generated files are excluded in ./scripts/format_all.sh
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Change-Id: I4f42c83d1fec01242eada5e7ce6c1a5192234d37
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commit a9c7361c8dc1d37e78d216754a4c03e8a8f1e74f
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Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
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Date: Mon Sep 28 02:14:29 2020 +0200
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minor formatting fix (wrongly updated in earlier commit)
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Change-Id: I544635fd936cb5b7f7bd9255876641cd5a9590c6
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commit 7b8f675bfdb1d924af6a2dcc1f79bda5ace7e886
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Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
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Date: Sun Sep 20 21:45:24 2020 +0200
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fix formatting for (non-generated) internal source files
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- Change formatting standard to Cpp11. Main difference is not having
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the space between two closing >> for nested templates. We don't
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choose c++14, because older versions of clang-format (version 9
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and earlier) don't know this value yet, and it doesn't make a
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difference in the formatting.
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- Apply clang-format to all (non generated) internal source files.
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- Manually fix some code sections (clang-format on/off) and c-strings
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- Exclude some embedded external files with very different formatting
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(gtest/gmock)
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- Add script to format all source files
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Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
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commit 921368ce31c42ee793cf131860abba291a7e39ad
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Wed Sep 9 09:15:37 2020 -0700
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Fix a number of typos in covariance.h
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Also some minor cleanups in covariance_impl.h
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Thanks to Lorenzo Lamia for pointing these out.
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Change-Id: Icb4012a367fdd1f249bc1e7019e0114c868e45b6
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commit 7b6b2491cc1be0b3abb67338366d8d69bef3a402
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Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
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Date: Tue Sep 8 17:51:32 2020 +0200
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fix formatting for examples
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This is mostly just applying the existing clang format config, except:
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- Use NOLINT on overlong comment lines.
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- Wrap some sections in 'clang-format off' / 'clang format on'.
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- Manually split or join some multi-line strings.
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Change-Id: Ia1a40eeb92112e12c3a169309afe087af55b2f4f
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commit 82275d8a4eac4fc0bd07e17c3a41a6e429e72bfb
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Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
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Date: Tue Sep 8 02:00:21 2020 +0200
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some fixes for Linux and macOS install docs
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Linux:
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- Remove workaround for Ubuntu 14.04, which is EOL. libsuitesparse-dev
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seems to come with a shared library on 16.04 and later, so linking
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to a shared build of ceres doesn't seem to be an issue any more.
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- Add missing libgflags-dev.
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macOS:
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- OS X is now called macOS.
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- Update homebrew link.
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- Mac homebrew the preferred method of installation.
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- Fix OpenMP instructions.
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- Remove reference to homebrew/science. Everything is in core.
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- Add missing gflags.
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Change-Id: I633b3c7ea84a87886bfd823f8187fdd0a84737c9
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commit 9d762d74f06b946bbd2f098de7216032d0e7b51d
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Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
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Date: Sun Sep 6 21:04:24 2020 +0200
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fix formatting for public header files
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- ensure all public headers files adhere to clang-format
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- preserve one-per-line for enums by adding trailing comma
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- preserve include order for en/disable_warning.h
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Change-Id: I78dbd0527a294ab2ec5f074fb426e48b20c393e6
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commit c76478c4898f3af11a6a826ac89c261205f4dd96
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Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
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Date: Sun Sep 6 23:29:56 2020 +0200
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gitignore *.pyc
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Change-Id: Ic6238a617a3c7ce92df7dcefcc44bae20c32b30b
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commit 4e69a475cd7d7cbed983f5aebf79ae13a46e5415
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Tue Sep 1 10:15:23 2020 +0100
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Fix potential for mismatched release/debug TBB libraries
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- Protect against the case when the user has multiple installs of TBB
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in their search paths and the first install does not contain debug
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libraries. In this case it is possible to get mismatched versions
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of TBB inserted into TBB_LIBRARIES.
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- Also suppresses warning about use of TBB_ROOT on modern versions of
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CMake due to CMP0074.
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Change-Id: I2eaafdde4a028cbf6c500c63771973d85bc4723d
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commit 8e1d8e32ad0d28c0d4d1d7b2b1ce7fc01d90b7b0
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Thu Sep 3 10:49:20 2020 -0700
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A number of small changes.
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1. Add a move constructor to NumericDiffCostFunction, DynamicAutoDiffCostfunction
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and DynamicNumericDiffCostFunction.
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2. Add optional ownership of the underlying functor.
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3. Update docs to reflect this as well as the variadic templates that allow an
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arbitrary number of parameter blocks.
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Change-Id: I57bbb51fb9e75f36ec2a661b603beda270f30a19
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commit 368a738e5281039f19587545806b7bc6f35e78f9
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Author: Julian Kent <jkflying@gmail.com>
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Date: Thu May 7 12:54:35 2020 +0200
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AutoDiffCostFunction: optional ownership
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Add Ownership semantics to the AutoDiffCostFunction
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This allows several benefits, such as pointer ordering always being the
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same for numerical repeatability (due to blocks being ordered by
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pointer address), memory adjacency for better cache performance, and
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reduced allocator pressure / overhead.
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This is then made use of in libmv by preallocating the errors and
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cost functions into vectors
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Change-Id: Ia5b97e7249b55a463264b6e26f7a02291927c9f2
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commit 8cbd721c199c69f127af6ef7c187ddf7e8f116f9
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Author: Morten Hannemose <morten@hannemose.dk>
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Date: Thu Sep 3 17:54:20 2020 +0200
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Add erf and erfc to jet.h, including tests in jet_test.cc
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erf is necessary for evaluating Gaussian functions.
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erfc was added because it is so similar to erf.
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Change-Id: I5e470dbe013cc938fabb87cde3b0ebf26a90fff4
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commit 31366cff299cf2a8d97b43a7533d953ff28fdc29
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Sep 1 09:23:34 2020 -0700
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Benchmarks for dynamic autodiff.
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This patch is from Clement Courbet. courbet@google.com
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Change-Id: I886390663644733bfa5b7b52b0c883079e793726
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commit 29fb08aeae1ce691851724af7209fea6127523a9
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Tue Sep 1 10:23:31 2020 +0100
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Use CMAKE_PREFIX_PATH to pass Homebrew install location
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- Passing HINTS disables the MODULE mode of find_package() which
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precludes users from creating their own find modules to provide
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Ceres' dependencies.
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Change-Id: I6f2edf429331d13fe67bf61ac4b79d17579d9a57
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commit 242c703b501ffd64d645f4016d63c8b41c381038
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Aug 4 21:02:11 2020 -0700
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Minor fixes to the documentation
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Change-Id: I65e6f648d963b8aa640078684ce02dcde6acb87d
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commit 79bbf95103672fa4b5485e055ff7692ee4a1f9da
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Aug 4 18:26:02 2020 -0700
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Add changelog for 2.0.0
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Change-Id: I8acad62bfe629454ae5032732693e43fe37b97ff
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commit 41d05f13d0ffb230d7a5a9d67ed31b0cfb35d669
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Aug 4 14:56:33 2020 -0700
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Fix lint errors in evaluation_callback_test.cc
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Change-Id: I63eb069544ad0d8f495490fe4caa07b9f04f7ec2
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commit 4b67903c1f96037048c83a723028c5d0991c09cf
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Aug 4 14:40:50 2020 -0700
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Remove unused variables from problem_test.cc
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Change-Id: Ia1a13cfc6e462f6d249dcbf169ad34831dd93ec2
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commit 10449fc3664c96d4b5454c092195432df79412f8
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue Aug 4 14:30:25 2020 -0700
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Add Apache license to the LICENSE file for FixedArray
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FixedArray implementation comes from ABSL which is Apache
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licensed.
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Change-Id: I566dbe9d236814c95945732c6347d3bf7b508283
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commit 8c3ecec6db26d7a66f5de8dc654475ec7aa0df14
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Tue May 26 04:44:11 2020 -0700
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Fix some minor errors in IterationCallback docs
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Change-Id: Id3d7f21a523ff8466868cdec542921c566bbbfa9
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commit 7d3ffcb4234632dc51ee84c8a509d9428263070b
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sun Jul 26 19:42:16 2020 +0100
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Remove forced CONFIG from find_package(Eigen3)
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- Ceres will fail to configure if Eigen3::Eigen target is not found, and
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the minimum required Eigen version specified (3.3) exports Eigen as
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a CMake package and this is reflected in the default Ubuntu 18.04
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packages.
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- This permits users to specify their own Eigen3 detection should they
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choose to do so, but they must do so via an imported target.
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Change-Id: I5edff117c8001770004f49012ac1ae63b66ec9c1
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commit a029fc0f93817f20b387b707bc578dc1f1a269ae
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sun Jul 26 18:44:59 2020 +0100
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Use latest FindTBB.cmake from VTK project
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- Retrieved from [1], SHA: 0d9bbf9beb97f8f696c43a9edf1e52c082b3639b on
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2020-07-26
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- [1]: https://gitlab.kitware.com/vtk/vtk/blob/master/CMake/FindTBB.cmake
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Change-Id: I953a8c87802a974d30ccc7c80f5229683826efbd
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commit aa1abbc578797c6b17ee7221db31535dc249ae66
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sun Jul 26 19:57:31 2020 +0100
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Replace use of GFLAGS_LIBRARIES with export gflags target
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- As our minimum required version of gflags (2.2) exports itself as
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a CMake package and this is the case for the default 18.04 package
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we can use the gflags target directly.
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- Replaces forced use of CONFIG in find_package(gflags) with a check
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that the gflags imported target exists to avoid ambiguity with
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libgflags if installed in a default location. This permits users to
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override the gflags detection should they so choose, provided that
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they do so via an imported target.
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- Also removes some previously removed legacy GLAGS_ vars from the
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installation docs.
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Change-Id: I015f5a751e5b22f956bbf9df692e63a6825c9f0d
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commit db2af1be8780bbe88944775400baa2dbd3592b7d
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Aug 3 04:57:08 2020 -0700
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Add Problem::EvaluateResidualBlockAssumingParametersUnchanged
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Simplify the semantics for Problem::EvaluateResidualBlock to
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not ignore the presence of EvaluationCallback and add another method
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EvaluateResidualBlockAssumingParametersUnchanged to handle the case
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where the user has an EvaluationCallback but knows that the parameter
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blocks do not change between calls.
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Updated the documentation for the methods and EvaluationCallback to
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reflect these semantics.
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Also added tests for Evaluation related methods calling i
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EvaluationCallback when its present.
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https://github.com/ceres-solver/ceres-solver/issues/483
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Change-Id: If0a0c95c2f1f92e9183a90df240104a69a71c46d
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commit ab4ed32cda004befd29a0b4b02f1d907e0c4dab7
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Mon Aug 3 04:17:33 2020 -0700
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Replace NULL with nullptr in the documentation.
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Change-Id: I995f68770e2a4b6027c0a1d3edf5eb5132b081d7
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commit ee280e27a6140295ef6258d24c92305628f3d508
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Jul 31 16:48:06 2020 -0700
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Allow SubsetParameterization to accept an empty vector of constant parameters.
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Thanks to Frédéric Devernay for reporting this and providing an initial fix.
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Change-Id: Id86a2051ab7841ecafdcfb00f4634b353a7ef3b4
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commit 4b8c731d8a4f3fda53c642ff14a25fab6c233918
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Author: Sameer Agarwal <sameeragarwal@google.com>
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Date: Fri Jul 31 10:05:52 2020 -0700
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Fix a bug in DynamicAutoDiffCostFunction
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DynamicAutoDiffCostFunction::Evaluate when provided with a jacobians
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array that was non-empty but all its entries are nullptr, would
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compute num_active_parameters = 0, and then skip over all the loops
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that evaluated the CostFunctor.
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The fix is to check if num_active_parameters == 0, and then treat
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it as the case where jacobians array is null.
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Thanks to Ky Waegel for reporting and providing a reproduction for this.
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Change-Id: Ib86930c2c3f722724d249f662bf88238679bbf98
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commit 5cb5b35a930c1702278083c75769dbb4e5801045
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Author: Alex Stewart <alexs.mac@gmail.com>
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Date: Sun Jul 26 20:42:12 2020 +0100
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Fixed incorrect argument name in RotationMatrixToQuaternion()
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- Raised as: https://github.com/ceres-solver/ceres-solver/pull/607 by
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Frank Dellaert
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Change-Id: Id3e9f190e814cf18206e2f8c3b1b67b995c21dd5
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commit e39d9ed1d60dfeb58dd2a0df4622c683f87b28e3
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Author: Carl Dehlin <carl@dehlin.com>
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Date: Tue Jun 16 09:02:05 2020 +0200
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Add a missing term and remove a superfluous word
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Change-Id: I25f40f0bf241302b975e6fc14690aa863c0728b0
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commit 27cab77b699a1a2b5354820c57a91c92eaeb21e3
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Author: Carl Dehlin <carl@dehlin.com>
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Date: Mon Jun 15 20:01:18 2020 +0200
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Reformulate some sentences
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Change-Id: I4841aa8e8522008dd816261d9ad98e5fb8ad1758
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commit 8ac6655ce85a4462f2882fcb9e9118a7057ebe09
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Author: Carl Dehlin <carl@dehlin.com>
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Date: Mon Jun 15 19:10:12 2020 +0200
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Fix documentation formatting issues
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Change-Id: Iea3a6e75dc3a7376eda866ab24e535a6df84f8ea
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